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For information on the latest version, please have a look at 1.33.5.

TOnHommingCompletedCB

This callback function is used to check whether homing has been completed when the robot controller is operating in homing control mode.

See Rules for callback functions.

Defined in: DRFLEx.h

// typedef (DRFL.h)
typedef void (*TOnHommingCompletedCB)();

// registration API (internal + wrapper)
DRFL_API void _set_on_homming_completed(LPROBOTCONTROL pCtrl, TOnHommingCompletedCB pCallbackFunc);
void set_on_homming_completed(TOnHommingCompletedCB pCallbackFunc)
{
    _set_on_homming_completed(_rbtCtrl, pCallbackFunc);
};

Parameter
None

Return
None

Example

#include "DRFLEx.h"
#include <iostream>
#include <thread>
#include <chrono>

using namespace DRAFramework;
using namespace std;

// Callback function triggered when homing operation is completed
void OnHommingCompletedCB()
{
    cout << "[HOMING] Completed successfully." << endl;

    // Optional: issue post-homing initialization logic
    // For example, prepare for motion
}

int main()
{
    CDRFLEx drfl;

    // 1) Connect to robot controller
    if (!drfl.open_connection("192.168.137.100")) {
        cout << "Failed to connect to controller." << endl;
        return -1;
    }

    // 2) Register homing completion callback
    drfl.set_on_homming_completed(OnHommingCompletedCB);

    // 3) Start homing operation
    drfl.move_home(MOVE_HOME_MECHANIC, 1);
    cout << "[INFO] Homing started..." << endl;

    // 4) Wait for homing completion event
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• The callback is automatically invoked once the homing process finishes successfully.

• Common usage includes logging, UI updates, or enabling next operation steps.